#pragma once
#include "vector3.h"
#include "quaternion.h"
#include "State.h"
#include "Derivative.h"
#include "gl\glut.h"
#include <iostream>

using namespace std;

class RigidBody
{
public:
	RigidBody(void);
	~RigidBody(void);

	State previous;
	State transform;

	virtual void Update(double t, double dt);
	virtual Derivative Evaluate(State &initial, double t, double dt, Derivative &d);
	virtual void Integrate(State &state, double t, double dt);
	virtual void Render(void);
	void ClearForces(void);

	double pi;
};

